Transcript Presentazione1

IN-PIPE ISPECTION
ROBOT
Mechatronics Final
Project Design
Professor:
Students:
VIKRAM KAPILA
DEL BUFALO GIOVANNI
NOTARO GIANLUCA
ROVARDI ALESSANDRO
Overview
• Goal
• Sensor
• Physical Constrain
• Storage Data
• Equipment list
• Future Improvments
• System Description
• Conclusion
• Mechanical Design
Goal
Building an in-pipe ispection robot
capable of:
• Moving inside pipes
• Climbing vertical pipes
• Measuring the inner
diameter of a pipeline
and therefore detecting
the presence of
limestone
• Storing the acquired
data in a removable usb
device
Physical Constrain
Elbow
Equipments List
Mechanic
System:
 Plexiglass frame
 Aluminum arms
Sensor
 Angular
Potentiometers
 Safe switch
 Pinion Gears
Robotic Kit
 Linear springs
 Basic Stamp
 Plastic Pulley
 Usb data logger
 Transmission Belt
 H-bridge
 Bearings
System Description
The Robot is only a part of a
maintenance system composed by:
 In-pipe Inspection Robot
 Removable data logger system
 External station for data analysis
Mechanical Design
For the preliminar design, we took into
account these critical parameters:
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minimal and maximal dimensions
weight
moving ability
power request
cost issues
Any of the above influences the others,
a compromise must be found
Mechanical Design
The result is a robot composed by two
autonoumus vehicle connected with a
rubber material and a spring.
Each vehicle is equipped with two
driven wheeled arms and a dc motor.
Each arm is pressed to the inner
surface of the pipe by a linear spring,
and can adapt to diameters changing
by folding itself.
Mechanical Design
Mechanical Design
Since weight is a critical parameter,
materials used have to be light and
easily machinable: plexiglass, aluminun,
plastic.
Bending
deflection due
to its weight
Mechanical Design
For the propulsion we chose two 12 V
DC Reversible Gear Head Motors, one
on each vehicle, to have high torque
and low speed.
Unfortunately this means high current
request and weight added by the
batteries and heavy motors
Mechanical Design
Each vehicle has an hybrid transmission
made of two type of mechanical device:
Gears and pulley
Mechanical Design
The motor transmit the torque to the
wheeled arms through a pinion gear
and then to the wheels by a
transmission belt
In this way one
motor moves two
wheels, one
clockwise and one
contraclockwise
Motors
Motors: to activate them we will use a
Full Bridge for each vehicle. Two inputs
are used to control the base leads of a
pair of transistors.
Sensors
The folding arms are mounted on a
potentiometer that can turn in presence
of an obstacle.
Potentiometer
Angular
displacement of
the potentiometer
is related to a
variation of
nominal diameter
of the pipe and
can be related to
the presence of
limestone
Storage Data
The Memory Stick Datalogger is a USB
Host Bridge which allows to connect a
USB Mass Storage Device, such as a
Thumb Drive, to the BASIC Stamp.
Circuit
Recovery switch
A switch is mounted in front of the
robot. If it finds an ostruction in the
pipes it is activated. The robot tries to
go ahead three times. If it is not
succesful it returns to the start point
Future Improvements
 Build a smooth waterproof body
to house the frame and the
electrical components
 Improve the control system in
presence of elbows and obstacles
 Reduce the mechanical loss
 Reduce the dimension of the
robot and its weight
 Install a CCD camera on board
for visual ispection
Conclusion
The in-pipe inspection robot can be an
usfull tool to drastically decrease
maintenance expences
It is relatively cheap and easy to use
However its realization is complex
More time is required to enhance the
robot features
Questions
Thank you.
Questions?